Path Classification and Estimation Model Based Prognosis of Pneumatic Cylinder Lifetime

Prognosis is a key technology to improve reliability,safety and maintainability of products,a lot of researchers have been devoted to this technology.But to improve the predict accuracy of remaining life of products has been difficult.To predict the lifetime specification of pneumatic cylinders with high reliability and long lifetime and small specimen,this paper put forward the prognosis algorithm based on the path classification and estimation（PACE） model.PACE model is based entirely on failure data instead of failure threshold.Pneumatic cylinders normally characterize with failure mechanism wear and tear.Since the minimum working pressure increases with the number of working cycles,the minimum working pressure is chosen as degradation signal.PACE model is fundamentally composed of two operations：path classification and remaining useful life（RUL） estimation.Path classification is to classify a current degradation path as belonging to one or more of previously collected exemplary degradation paths.RUL estimation is to use the resulting memberships to estimate the remaining useful life.In order for verification and validation of PACE prognostic method,six pneumatic cylinders are tested.The test data is analyzed by PACE prognostics.It is found that the PACE based prognosis method has higher prediction accuracy and smaller variance and PACE model is significantly outperform population based prognostics especially for small specimen condition.PACE model based method solved the problem of prediction accuracy for small specimen pneumatic cylinders＇ prognosis.

Dynamic Friction Behaviors of Pneumatic Cylinders

This paper deals with experimental investigation and modeling of dynamic friction behaviors in the sliding regime of pneumatic cylinders. Using three pneumatic cylinders, friction characteristics are investigated and modeled under various conditions of velocity variation and pressures. It is shown that a hysteretic behavior can be seen at low velocities in the friction force-velocity relation and the friction force varies nearly linearly with the velocity at high velocities. The hysteretic loop is expanded to higher velocities when the frequency of the velocity variation is increased, and its size is increased with increasing driving pressure and is decreased with increasing resistance pressure. It is shown that such behaviors can be relatively accurately simulated by the new modified LuGre model in which a few static parameters are varied with the frequency of velocity variation.

Adaptive robust output force tracking control of pneumatic cylinder while maximizing/minimizing its stiffness

The system considered in this work consists of a cylinder which is controlled by a pair of three-way servo valves rather than a four-way one.Therefore,the cylinder output stiffness is independently controllable of the output force.A discontinuous projection based adaptive robust controller (ARC) was constructed to achieve high-accuracy output force trajectory tracking for the system.In ARC,on-line parameter adaptation method was adopted to reduce the extent of parametric uncertainties due to the variation of friction parameters,and sliding mode control method was utilized to attenuate the effects of parameter estimation errors,unmodelled dynamics and disturbance.Furthermore,output stiffness maximization/minimization was introduced to fulfill the requirement of many robotic applications.Extensive experimental results were presented to illustrate the effectiveness and the achievable performance of the proposed scheme.For tracking a 0.5 Hz sinusoidal trajectory,maximum tracking error is 4.1 N and average tracking error is 2.2 N.Meanwhile,the output stiffness can be made and maintained near its maximum/minimum.

Simulation on the impact pneumatic cylinder with a reservoir

We proposed a novel impact pneumatic cylinder with a reservoir connected to the inlet chamber so that the pneumatic cylinder can achieve a high speed. A reservoir with high-pressure air enabled the cylinder to achieve considerable acceleration when it began to work. We established a mathematical model to simulate the behaviors of an impact pneumatic cylinder, focusing on the relationships of the maximum piston speed with the air supply pressure and the reservoir volume. The results show that the reservoir can help significantly enhance the pneumatic system velocity. When the reservoir volume is less than double the cylinder volume, an increase in the reservoir volume is more effective in increasing the maximum piston velocity.

A rotary pneumatic actuator for the actuation of the exoskeleton knee joint

Rotary pneumatic actuators that are made out of linear one are always best suited for exoskeleton joint actuation due to its inherent power to weight ratio. This work is a modified version of knee actuation system that has already been developed and major modifications are made in order to make it more suitable for human wearing and also to reduce its bulkiness and complexity. The considered actuator system is a rotary actuator where a pulley converts the linear motion of the standard pneumatic piston into the rotary motion. To prove the capability of the actuator, its performance characteristics such as torque and power produced are compared to the required torque and power at the knee joint of the exoskeleton in swing phase and are found to be excellent. The two-way analysis of variance（ANOVA）is performed to find the effect of the throat area valve on knee angle. The ANOVA shows the significant effect of the throat area variation on the knee angle flexion made by the proposed actuator. A relationship between the throat area of flow control valve, that is connected to the exit port of the direction control valve, and angular displacement of the knee joint has been formulated. This relationship can be used to design a control system to regulate the mass flow rate of air at the exit and hence the angular velocity of the knee joint can be controlled.

Pneumatic force servo system based on disturbance observer

In order to design a low-cost pneumatic force servo system with large output forces,a scheme of a booster cylinder controlled by high speed solenoid valves is proposed.A nonlinear model of the system is established,in which the hysteresis of high speed solenoid valve is considered.In order to deal with parameter uncertainty and disturbances of noise and friction,a feed-forward control method based on a disturbance observer is proposed.A practical pneumatic force servo system is used to testify the feasibility of the proposed controller.The experimental results show that pneumatic force servo system based on the proposed controller has high force tracking accuracy and quick response.

Application of Nonlinear Friction Compensation to Pneumatic Positioning

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Design and experiment of the pneumatic cylinder type precision metering system for wheat

The main goal of this study was to design a pneumatic cylindrical-type metering device with six-rows for wheat precision and to analyze its output under different rotating speeds and vacuum pressure values.The effect of the pressure,rotating speed and rows on seed suction,retention and dropping was shown inspected.Six levels of rotating speed(5,10,15,20,25 and 30 r/min.)combined with the applying of different vacuum pressures(1.8,2.1,2.4,2.7,3.0,and 3.3 kPa)were inspected to detect the optimum pressure which was adequate for seed sucking at each speed.In addition,to predict the vacuum pressure corresponding with each rotating speed,a regression model was developed.Based on seed mass analysis,statistical differences under the influence of velocities and negative pressure were found at 5 percent significance according to Duncan’s Test,whereas the differences were existed between and within rows.Results revealed that the highest seed mass means of 19.02 g and 22.64 g were obtained by row1while the lowest means of 18.02 g and 21.49 g were attained by row6 under the effect of the speed and vacuum pressure,respectively.The noticeable variation between row1 and row 6,particularly under high speeds(25 and 30 r/min),might be returned to the truth that row 1 was closer to vacuum inlet,and row 6 was the farthest one.Results concluded that the multiple-row pneumatic cylinder with oblong shape seed nozzle was found to be capable for single seed picking with a small rows variation but without seed damage.

油气悬架阻尼数学模型对比分析

当前针对油气悬缸动力学特性的研究中,弹性力主要采用多变气体状态方程建模,阻尼力则采用薄壁小孔理论建模,由于真实情况中阻尼孔和单向阀的过流厚度都并非薄壁,而是具有一定的厚度,采用薄壁理论会导致模型在一定程度上失真,所以采用短孔过流理论建立阻尼模型,并考虑入口和出口的局部水头损失,重新构建油气悬缸动力学模型。通过施加真实道路采集的振动信号,对比了1/4悬架系统的两种阻尼力模型下的响应与真实的悬缸上支点加速度数据的平均绝对误差MAE和均方根误差RSME,验证了两个模型在低频范围都能较好模拟悬架振动,但中高频存在明显缺失,而短孔过流理论模型在频域上更逼近真实值。

比例阀控气缸系统确定性鲁棒反步运动跟踪控制器

为实现气缸运动轨迹的高精度鲁棒控制,建立了比例阀控缸系统的数学模型,并基于反步法设计了一种能够有效抑制系统模型参数不确定性、未建模动态和外界扰动等因素影响的非线性确定性鲁棒控制器。利用MATLAB中的Simulink模块构建气缸运动轨迹跟踪控制系统仿真模型。采用MATLAB/Simulink中的xPC-Target开发了基于非线性确定性鲁棒控制器的气缸运动轨迹实时控制系统。仿真结果表明所设计控制器是可行的。试验结果表明该控制器能够有效地跟踪参考轨迹,跟踪0.3 Hz正弦轨迹时的最大跟踪误差为0.89 mm,约为幅值的2.97%;跟踪0.4 Hz正弦轨迹时的最大跟踪误差为1.02 mm,为幅值的3.4%。

气浮活塞优化设计及其径向承载力试验研究

对于气缸的高精度伺服控制而言,从根本上消除摩擦力具有重要的意义。气浮活塞是气浮无摩擦气缸的重要构成部件。在气缸的运行过程中,气浮活塞的径向承载力不足会引发活塞与缸筒内壁接触,致使气体润滑失效。为了提高无摩擦气缸中气浮活塞的径向承载性能,期望在实现更大承载力的前提下尽量减少耗气量,采用有限元仿真与试验相结合的方法,开展了气浮活塞径向承载力的研究工作。首先,采用Fluent软件仿真分析了供气压力、偏心率和节流孔直径等参数对气浮活塞径向承载力和耗气量的影响;然后,在综合考量后,优选出了气浮活塞的节流孔径,并以此加工出了气浮活塞样机;最后,为了测试实际情况下不同供气压力和偏心状态下的气浮活塞的径向承载能力,设计并搭建了一套以气浮无摩擦气缸作为加载装置的高精度径向承载力检测装置。研究结果表明:从定性的角度上看,仿真和试验结果趋势一致;从定量的角度上看,试验结果与仿真结果的吻合度在90%以上。该研究可为采用Fluent软件仿真研究气浮活塞径向承载力的准确性提供依据,为后续仿真模型的修正提供一定的指导。

一种高精度、长寿命超薄气缸的设计及制造

本文介绍了一种精度高、寿命长的超薄气缸,此超薄气缸由缸体、前端盖、活塞、后端盖及活塞杆等组成。该超薄气缸革新了气缸的装配生产工艺,完全避免了卡簧的使用,通过一体铆压成型可使气缸前后端盖完全密封,显著增加了气缸的密封性能,行程精度高,使用寿命提高至原来的3~5倍。该超薄气缸有望在机械、自动化及汽车等领域得到广泛应用,将为气动行业带来巨大的革新,经济效益显著,可为节能减排和带动当地经济发展做出较大贡献。

矿用卡轨车气动压绳梁的设计

为了解决无极绳牵引卡轨车在使用过程中压绳轮磨损导致的跳绳现象,本文基于部分矿区采用的人工拆除和安装压绳滑轮来防止跳绳的操作步骤,设计开发了一种气动压绳梁装置。该装置通过气动系统与压绳梁结构之间的装置联动,利用气缸的气动力实现压绳梁对于钢丝绳的压紧和放松,再由另外一个气缸完成销子的插拔,从而完成一个工作循环。该装置的使用,可以取代原本涉及人工的部分,提高生产工作的安全保障以及生产效率,在同类型的各个矿区中都可以进行推广使用。

气动夹具系统改进设计

某机加工企业因业务发展需要新接收一批零件,但该企业现有气动机床夹具设备不能胜任其定位及加工精度要求,在不增加过多成本的基础上,对现有气动夹具系统改进设计做详细论述,并给出各设计环节的气动系统图、设计说明及设计完成后的气动夹具总图。将设计完成后的夹具系统在Automation Studio 7.0 Professional软件中建模并仿真,分析各缸线性位置-时间关系;各缸起步伸出时在0~50 mm范围内3个缸同步,有效提高了设备的生产效率。在51~250 mm长度范围内夹紧缸运动速度开始降低,实现定位缸先定位。退出时由于夹紧缸垂直布置原因,在250~233.69 mm范围内出现微小波动,其波动范围在16.3 mm;由于此段为各缸退出段,对零件加工精度无影响。正常工作后各缸运行平稳,波动现象消失,满足加工要求。最后将改进后的气动系统和原系统作对比分析,结果表明:改进设计后的气动系统不仅能够完全胜任新零件的加工精度要求,且有效避免了原设备故障率高、维护保养困难、设备成本高、噪声大的诸多不足。

基于模型分析对动车组气动锁气缸偏心问题的探讨与改造

通过对动车组塞拉门辅助气动锁机构的观察,发现直线运动的力和旋转运动的力接触,将会使活塞杆在复位时受到水平分力影响,从而造成以下问题:活塞杆凹凸变形产生弯曲;密封圈左右摇晃密封不良;活塞总成前后端碰撞不均匀。据此开展试验结合仿真分析,最终验证了活塞杆运动时在原有的垂直力上还存在轴向力(即运动过程中活塞杆存在偏心现象)。基于此,提出活塞杆与转动杆的改造方案,将原有的2个部件合并为1个部件,减少运动时带来的轴向力,从而改变辅助气动锁工作模式,解决塞拉门关键技术问题,保障动车组运行安全。

Design and field evaluation of hill-drop pneumatic central cylinder direct-seeding machine for hybrid rice

To meet the requirement of the precision direct-seeding for hybrid rice,this study aimed to design a hill-drop pneumatic central cylinder direct-seeding machine to sow ten rows at a time.A series of orthogonal experiments were conducted to investigate the performance of the cylinder seeder.The influences of the hole diameters,degree of vacuum,and rotational speed of the cylinder were tested on JPS-12 computer-vision seeding test platform,and the rotational speed of 10-50 r/min,diameter of 135 mm and a negative pressure of 1.0-2.0 kPa were employed.Test results showed that the optimal parameter combination was a vacuum of 2.0 kPa and a hole diameter of 2.0 mm(straight hole),with a rotational speed of 30 r/min.The probability of(2±1)seeds in each hole was 95.3%,while the probability of seed-missing hole was 2.0%.A series of field experiments were then conducted to test the seeder performance according to China National Standard Test Methods,and the field test results showed that for the hill-drop pneumatic central cylinder direct-seeding machine,the probability of(2±1)seeds in each hill was 91.6%,while the probability of seed-missing hill was 2.7%.The yield data showed that the average effective panicle had 231.25 ears,the average seed setting rate was 9.92%,the average 1000-grain weight was 22.45 g,and the average yield was 7107.9 kg/hm^(2) that was 26.14%higher than the average yield of rice(5634.9 kg/hm^(2))of Guangdong Province in 2016.The results showed that the hill-drop pneumatic central cylinder direct-seeding machine for hybrid rice could be applied in practical precision rice seeding.

Dynamic Characteristics of a New Pneumatic Cylinder with Curved Groove

With the development of industrial automation technology, pneumatic systems are widely applied in many fields. The pneumatic cylinder is the most important actuator in the pneumatic system. This paper discusses the dynamic characteristics of a new pneumatic cylinder with a cushion ring and a special curved groove. This pneumatic cylinder can move at high speed and with low acceleration. The results of the experimental study and numerical simulation are presented. The simulation results agree well with the experimental data. Some new designs of the special curved groove are completed through numerical simulation. The experimental results show that the mean velocity of the improved cylinder is much greater than that of the original cylinder.

基于ANSYS的往复式压缩机气缸有限元分析

针对某型号铸造不锈钢往复式压缩机气缸的振动问题,通过对气缸的受力分析及建模,利用ANSYS进行静力学分析和模态分析。结果表明,该气缸进、排气口螺栓连接处应力过大,气缸支撑振动变形大。通过对气缸结构进行优化,消除气缸振动问题,使设计方案更加合理。该分析方法适用于铸造不锈钢型气缸强度校核,对该类气缸的结构设计具有借鉴作用和参考价值。

基于STM32的比例阀控气缸位置伺服控制器

传统的工控机控制系统具有成本高、功耗高、体积大、操作复杂等特点,针对这些问题,提出了一种基于嵌入式技术的比例方向阀控气缸位置伺服控制方法。首先,分析了气动位置伺服控制器的实际需求,设计了控制器的最小系统、主控板、模数扩展板和数模扩展板的硬件电路;然后,在集成开发环境Keil MDK下,使用C语言进行了嵌入式软件编写,在跨平台嵌入式软件编程环境Qt下,使用Visual C++语言进行了上位机软件编写;最后,为了验证气动位置伺服控制器的有效性,搭建了比例方向阀控气缸位置伺服控制实验平台,利用所开发的嵌入式气动位置伺服控制器,分别进行了气缸的定位控制和轨迹跟踪实验。实验结果表明:该伺服控制器能够简单、有效地实现气缸位置控制的目的,在跟踪频率为0.5 Hz的参考轨迹时,轨迹跟踪最大误差约为4.6 mm;在跟踪频率为0.25 Hz的参考轨迹时,轨迹跟踪最大误差约为3.1 mm。研究结果表明:该位置伺服控制方法具有良好的控制性能,能够适用于对控制精度要求不是特别苛刻的场合。

新型纵振减摩气缸活塞密封槽选取及摩擦特性测试

传统气缸因复杂的摩擦特性难以实现高精度控制,基于振动减摩原理,开发了一款新型高频纵振减摩气缸。在保证密封性能的前提下,凭经验在活塞上设计了6种不同槽口夹角和槽宽的密封槽,并根据实际PID运动轨迹跟踪控制的精度情况,选取其中最优的密封槽。通过模态分析、谐响应分析和阻抗测试,确定了所开发新型气缸的一阶纵振共振频率为6328 Hz。摩擦力测试结果表明:高频振动确实可以减小气缸的摩擦,且激励电压越大减摩效果越好;最大静摩擦力最大减少了约64.46%,动摩擦力最大减少了约63.62%。